function ao = normAngle(ai,deg)

% NORMANGLE Normalize angle to (-pi .. pi] values.
%   NORMANGLE(A) brings angle A to the range (-pi .. pi] by adding an
%   integer number of turns.
%   
%   NORMANGLE(A,DEG) with DEG ~= false, uses degrees instead of radians,
%   and thus the angle A is normalized to the range (-180 .. 180].

%   Copyright 2008-2009 Joan Sola @ LAAS-CNRS.

if nargin < 2
    deg = false;
end

if deg
    halfTurn = 180;
else
    halfTurn = pi;
end

ao = ai;
while any(ao <= -halfTurn)
    ao(ao <= -halfTurn) = ao(ao <= -halfTurn) + 2*halfTurn;
end
while any(ao > halfTurn)
    ao(ao > halfTurn) = ao(ao > halfTurn) - 2*halfTurn;
end



% ========== End of function - Start GPL license ==========


%   # START GPL LICENSE

%---------------------------------------------------------------------
%
%   This file is part of SLAMTB, a SLAM toolbox for Matlab.
%
%   SLAMTB is free software: you can redistribute it and/or modify
%   it under the terms of the GNU General Public License as published by
%   the Free Software Foundation, either version 3 of the License, or
%   (at your option) any later version.
%
%   SLAMTB is distributed in the hope that it will be useful,
%   but WITHOUT ANY WARRANTY; without even the implied warranty of
%   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
%   GNU General Public License for more details.
%
%   You should have received a copy of the GNU General Public License
%   along with SLAMTB.  If not, see <http://www.gnu.org/licenses/>.
%
%---------------------------------------------------------------------

%   SLAMTB is Copyright:
%   Copyright (c) 2008-2010, Joan Sola @ LAAS-CNRS,
%   Copyright (c) 2010-2013, Joan Sola,
%   Copyright (c) 2014-    , Joan Sola @ IRI-UPC-CSIC,
%   SLAMTB is Copyright 2009 
%   by Joan Sola, Teresa Vidal-Calleja, David Marquez and Jean Marie Codol
%   @ LAAS-CNRS.
%   See on top of this file for its particular copyright.

%   # END GPL LICENSE

